digital ac servo systems ac servo systems pronet series (v11.1011) motion control products ltd. ......
TRANSCRIPT
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
Tel.: +44 (0)1202 599922 [email protected] www.motioncontrolproducts.com P a g e | 1
INTRODUCTION
EMJ SERVO MOTORS
EMG SERVO MOTORS
EML SERVO MOTORS
EMB SERVO MOTORS
PRONET SERVO DRIVES
The ProNet series servo system add functions of current feed-forward
control, acceleration feed-forward control, speed viewer and inertia viewer
which, in turn, enable the ProNet series servo drive to improve
response performance more than three times than previous products.
Furthermore, it is available to on-line real time workload inertia check and
adjustment of gain at any time to achieve the best control effect.
The ProNet series servo drive is able to match 17-bits serial encoder which
in turn enhances position precision and low speed stability &
responsiveness performance. Expansion module interface and Profibus-DP
bus communication module are also available.
The ProNet series servo drive completely pursues the simplicity of utilization to automatically determine mechanical characteristic and set needed servo gain. Besides, it achieves ‘on-line automatic adjustment function’. Automatic adjustment of servo system to meet mechanical characteristic enables less debugging time and simpler operation. Even for the first time to use it, it can finish the best optimized setting in a short time.
The ProNet series servo drive is designed with expansion module interface. At present, Profibus-DP bus communication module is available. In future, it will also support single axis control and assistant PLC expansion module etc. In order to make the servo system flexible to use for users, the ProNet series servo drive take the lead in providing expansibility, soft and open design. It can be expanded with various communication and feedback interface through selective modules.
Expansibility
Simple & Convenient Setting
Applications:
SMM (Surface Mounting Machine)
PCB puncher machine
Robot arm
Handling machine
Textile machine
Machine tools
Food processing machine
And more… 14
05
01
07
09
11
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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The ProNet series servo drives provide RS485 and CAN communication interface. Besides, it is able to support MODBUS, CANopen and PROFIBUS communication protocol.
Main Features
• Bus transmitting baud rate automatic identification (9.6 Kbps~12Mbps)
• The on-card power and isolator can match demand of different net regulations
• Distribute module address freely, make data transmitted to any servo drives
• Periodic data (PZD) exchange is available by DPV0 channel
• Reading and writing no-periodic data are available by DPV1 channel
• Support DPV2, isochronous, each servo drive can sampling control isochronously, the isochronous precision can reach 1µs
• The module support motion control-oriented PROFIBUS PROFIDRIVE regulation
• Pass the coherence test and authentication of PROFIBUS
There are many applications based on profibus communication in industrial automation market. The DP100 module is a PROFIBUS DP module, which can connect the other PROFIBUS products with ProNet servo drive and provide profibus project at low cost.
Communication Functions
DP100 Module
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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ProNet – 10 A M A
Servo drive Rated Power Voltage Control Mode Option
10: 1KW A: 200VAC M: Position, speed, torque control
A: 17-bit serial encoder 15: 1.5KW D: 400VAC
20: 2KW 30: 3KW E: Speed, torque &
position control (Support extended module)
B: Resolver
50: 5KW 75: 7.5KW
1A: 10KW
1E: 15KW
EMG – 10 A D A 1 1
Servo motor Rated Power Voltage Encoder Version Code Shaft End Options
EMJ, EMG, 02: 200W A: 200VAC D: Incrementalencoder 131072 P/R
1: Flat, without key
1: None
EML, EMB 04: 400W D: 400VAC 2: with oil seal
08: 750W 2: Flat, with key, with screw thread
10: 1KW S: Absolute encoder 131072 P/R
3: with brake (24VDC) 15: 1.5KW
20: 2KW 4: with oil seal, with brake (24VDC)
30: 3KW R: Resolver
50: 5KW
75: 7.5KW
1A: 10KW
1E: 15KW
Model Configuration
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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Functions
Models Control Mode RS232 RS485 CANopen Profibus
Auto gain setting
PG dividing frequency
Encoder Frequency
with workload
EDC series Position control √ × √ × × √ 2500P/R 250Hz
EDB series Position control √ √ × × × √ 2500P/R 250Hz
EDB series ‘M’ type
Position, torque & speed control
√ √ × × × √ 2500P/R 250Hz
ProNet series Position, torque &
speed control × √ √ √ √ √
17 bits 131072 P/R
450Hz
Notes:
1. Please inform us if the drive is used in frequent start-stop movement applications e.g. packing or textile machines
2. ProNet & EDB series are also available with single phase power supply for motor power range from 750W to 1.5kW. Please
short terminal L1, L3 & L2C as one phase and L2, L1C as another phase. Short terminal B1 & B2 is prohibited. For power
more than 1.5KW, it is not recommended to use single phase power supply.
3. Phase voltage: Three phase 200VAC input voltage refers to phase to phase voltage, not phase to neutral.
Servo Motors ProNet Servo Drives Continuous
Output Current
(A)
Max. Output
Current (A)
Input Voltage
(V) Series Capacity Model 200VAC 400VAC
Med
ium
Iner
tia
Smal
l Cap
acit
y
EMJ
3000rpm
200W EMJ-02A□A PRONET-02A□A - 1.3 3.9 0.5
400W EMJ-04A□A PRONET-04A□A - 2.7 8.1 0.9
750W EMJ-08A□A PRONET-08A□A 4.0 12.0 1.3
1.0kW EMJ-10A□A PRONET-10A□A 6.0 18.0 1.8
Med
ium
Cap
acit
y
EMG
2000rpm
1.0kW EMG-10A□A PRONET-10A□A 6.0 18.0 1.8
1.5kW EMG-15A□A PRONET-15A□A 9.0 28.0 2.5
2.0kW EMG-20A□A PRONET-20A□A 12.0 42.0 3.5
3.0kW EMG-30A□A PRONET-30A□A 18.0 56.0 4.5
5.0kW EMG-50A□A PRONET-50A□A 28.0 84.0 7.5
EML
1000rpm
1.0kW EML-10A□A PRONET-10A□A 6.0 18.0 1.8
2.0kW EML-20A□A PRONET-20A□A 12.0 42.0 3.5
3.0kW EML-30A□A PRONET-30A□A 18.0 56.0 4.5
4.0kW EML-40A□A PRONET-40A□A 28.0 84.0 7.5
Larg
e Ca
paci
ty
EMB 1500rpm
7.5kW EMB-75D□A PRONET-75D□A 18.0 56.0 12.0
11kW EMB-1AD□A PRONET-1AD□A 28.0 70.0 18.0
15kW EMB-1ED□A PRONET-1ED□A 38.0 84.0 22.0
System Selection Table
Summary Table
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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EM SERIES BRUSHLESS SERVO MOTORS
EMJ Technical Specifications
Model Unit EMJ-02A EMJ-04A EMJ-08A EMJ-10A
Matched Drives 200Vac Three-phase ProNet-02A ProNet-04A ProNet-08A ProNet-10A
Rated power kW 0.2 0.4 0.75 1.0Rated torque Nm 0.64 1.27 2.4 3.2Maximum torque Nm 1.92 3.81 7.2 9.6Rated speed rpm 3000 Max. speed rpm 4500 Rated current A 1.3 2.6 4 6Instantaneous Max. current A 3.9 7.8 12 18Rotor moment of Inertia (without brake) kg∙m2×10-4 0.188 0.313 1.35 1.74 Rotor moment of Inertia (with brake) kg∙m2×10-4 0.228 0.354 1.47 1.87 Electric time constant-TE ms 2.391 2.979 11 9.938Mechanical time constant- TM ms 1.203 0.864 1.183 1.239electromotive force constant- KE V/krpm 31.91 31.63 39 38.4Torque constant- KT Nm/A 0.564 0.564 0.613 0.613Resistance between motor windings Ω 11 4.7 2 1.6Inductance between motor windings mH 24.7~26.3 13.32~14 16.5~22 11.9~15.9
Feedback unit Standard 17 bit Incremental Encoder: 131072P/R
Optional * 17 bit Absolute Encoder: 131072P/R;
* Resolver Insulation level FEnvironment temperature 0℃ ~ +40℃ Environment humidity 20-80% RH
IP level All-closed , self-cool , IP65
(Except output shaft and connector)
Anti-vibration performance 49m /s2 Speed-Torque Curve
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Dimensions (mm)
Model L LL Flange
S Tap × DepthKey
LR LE LF LC LA LB LZ QK QL W T U
EMJ-02A 153 123 30 3 6 60 70 50 5.5 14 M5x10L 16 4 5 5 3
EMJ-04A 173 143 30 3 6 60 70 50 5.5 14 M5x10L 16 4 5 5 3
EMJ-08A 191 156 35 3 9 80 90 70 6 19 M6x15L 22 4 6 6 3.5
EMJ-10A 211 176 35 3 9 80 90 70 6 19 M6x15L 22 4 6 6 3.5
Cables
Motor Connector Encoder Connector Brake Connector
Plug: CGRSB-4BFMA-SL8001
Plug: CGRSD-7BFMA-SL8001
Plug: CGRSB-2BFMA-SL8001
Pin No. Signal Colour Incremental / Absolute encoder Pin No. Signal Colour
1 U phase Red Pin No. Signal Colour 1 B1 Blue
2 V phase Blue 1 S+ 2 B2 White
3 W phase White 2 S- Blue / Black
4 FG Green / Yellow 3* BAT+ Brown
4* BAT- Brown / Black
5 PG5V Red
6 PG0V Black
7 FG Shield
* Notes: 1) There are no BAT+/BAT- signals in incremental encoder 2) There is no brake in EMJ-_ _ADA_ _ servo motor
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EM SERIES BRUSHLESS SERVO MOTORS
EMG Technical Specifications
Model Unit EMG-10A EMG-15A EMG-20A EMG-30A EMG-50A
Matched Drives (200Vac) Three-phase ProNet-10A ProNet-15A ProNet-20A ProNet-30A ProNet-50A
Rated power kW 1 1.5 2 3 5Rated torque Nm 4.78 7.16 9.55 14.3 23.9Maximum torque Nm 14.34 21.48 28.65 42.9 71.7Rated speed rpm 2000 Max. speed rpm 3000 Rated current A 6 9 12 18 30Instantaneous Max. current A 18 27 36 54 90Rotor moment of Inertia (withoutbrake)
kg∙m2×10-4 10.0324 14.5124 18.9952 41.2788 71.7524
Rotor moment of Inertia (with brake) kg∙m2×10-4 10.6446 15.1236 19.6064 44.4788 74.9524 Electric time constant-TE ms 11.57 12.75 13 12.31 16Mechanical time constant- TM ms 1.39 1.16 1.07 2.4 1.57electromotive force constant- KE V/krpm 60.9 60 61 57.54 56.2Torque constant- KT Nm/A 0.8691 0.8732 0.9183 0.9093 0.852Resistance among motor windings Ω 0.7 0.4 0.3 0.29 0.1Inductance among motor windings mH 7.9~8.1 4.9~5.1 3.7~3.9 2.02~3.57 0.87~1.6
Insulation level F
Feedback unit Standard 17-bit Incremental Encoder: 131072P/R
Optional * 17-bit Absolute Encoder: 131072P/R; * Resolver
Ambient temperature 0℃ ~ +40℃ Ambient humidity 20-80% RH
Anti-vibration performance 24.5m /s2
IP level All-closed , self-cool , IP65
(Except output shaft and connector)
Speed-Torque Curve
A: Continuous working area B: Repeatable working area
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Dimensions (mm)
Model L LL KB1 KB2 KL1 KL2 Flange face
S Tap×Depth Key
LR LE LF LC LA LB LZ QK QL W T U
EMG-10A 215 160 84 135 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
EMG-15A 240 185 109 160 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
EMG-20A 265 210 134 185 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
EMG-30A 307 228 143 203 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5
EMG-50A 347 268 183 243 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5 Cables
Motor Connector Encoder Connector Brake Connector
Plug: MS3108B20-4S(LC=130) MS3108B22-22S (LC=180)
Plug: MS3108B20-29S
Plug: MS3106A10SL-3S
Receptacle: MS3102A20-4P (LC=130) MS3102A22-22P (LC=180)
Receptacle: MS3102A20-29P
Receptacle: MS3102A10SL-3P
Cable Clamp: MS3057-12A
Cable Clamp: MS3057-12A
Cable Clamp: MS3057-4A
Pin No. Signal Incremental/Absolute
encoder Resolver Pin No. Signal
A U phase Pin No.
Signal Colour Pin No.
Signal Colour A B1
B V phase K S+ Blue K SIN+ Yellow B B2
C W phase L S - Blue/Black L SIN- Blue C -
D FG *T BAT+ Brown T COS+ Red
*S B AT- Brown/Black S COS- Black
H PG5V Red H R1 Red/ White
G PG0V Black G R2 Yellow / White
J FG Shield J FG Shield
* Notes: there are no BAT+, BAT- signal in incremental encoder
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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EML Technical Specifications
Model Unit EML-10A EML-20A EML-30A EML-40A
Matched Drives (200Vac) Three-phase PRONET-10A PRONET-20A PRONET-30A PRONET-40A
Rated power kW 1.0 2.0 3.0 4.0
Rated torque Nm 9.55 19.1 28.7 38.2
Maximum torque Nm 28.65 57.3 86.1 114.6
Rated speed rpm 1000
Max. speed rpm 1500
Rated current A 6 12 18 24
Instantaneous Max. current A 18 36 54 72
Rotor moment of Inertia (without brake) kg∙m2×10-4 19.0 53.5 77.8 102.2
Rotor moment of Inertia (with brake) kg∙m2×10-4 19.6 56.7 81.0 105.4
Feedback unit Standard 17 bit Incremental Encoder: 131072P/R
Optional * 17 bit Absolute Encoder: 131072P/R;
* Resolver Insulation level F
Anti-vibration performance 24.5m /s 2 Environment temperature 0℃ ~ +40℃
Environment humidity 20-80% RH
IP level All-closed , self-cool , IP65
(Except output shaft and connector)
Speed-Torque Curve
A: Continuous working area B: Repeatable working area
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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Dimensions (mm)
Model L LL KB1 KB2 KL1 KL2 Flange face
S Tap×Depth key
LR LE LF LC LA LB LZ QK QL W T U
EML-10A 265(319.5) 210 134 185 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
EML-20A 332(401) 253 168 228 140 79 79 3.2 18 180 200 114 13.5 35 M8x16L 55 6 10 8 5
EML-30A 372(443) 293 208 268 140 79 79 3.2 18 180 200 114 13.5 35 M8x16L 55 6 10 8 5
EML-40A 412(478) 333 248 308 140 79 79 3.2 18 180 200 114 13.5 35 M8x16L 55 6 10 8 5
Notes: the dimension in the () is the length of the motor with holding brakes.
Cables
Motor Connector Encoder Connector Brake Connector
Plug: MS3108B20-4S(LC=130) MS3108B22-22S (LC=180)
Plug: MS3108B20-29S
Plug: MS3106A10SL-3S
Receptacle: MS3102A20-4P(LC=130) MS3102A22-22P (LC=180)
Receptacle: MS3102A20-29P
Receptacle: MS3102A10SL-3P
Cable Clamp: MS3057-12A
Cable Clamp: MS3057-12A
Cable Clamp: MS3057-4A
Pin No. Signal Incremental/Absolute Encoder Resolver Pin No. Signal
A U phase Pin No. Signal Colour Pin No. Signal Colour A B1
B V phase K S+ Blue K SIN+ Yellow B B2
C W phase L S - Blue / Black
L SIN- Blue C -
D FG T* BAT+ Brown T COS+ Red
S* BAT-
Brown / Black
S COS- Black
H PG5V Red H R1 Red/
White
G PG0V Black G R2 Yellow / White
J FG Shield J FG Shield
* Notes: there are no BAT+, BAT- signal in incremental encoder
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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EMB Technical Specifications
Model Unit EMB-75D EMB-1AD EMB-1ED
Matched Drives 400Vac Three-phase PRONET-75D PRONET-1AD PRONET-1ED
Rated power kW 7.5 11.0 15.0
Rated torque Nm 47.8 70.0 95.5
Maximum torque Nm 119.4 175 191
Rated speed rpm 1500
Max. speed rpm 2000
Rated current A 18.0 28.0 38.0
Instantaneous Max. current A 56.0 70.0 84.0
Rotor moment of Inertia (without brake) kg∙m2×10-4 186.2 217.6 338.8
Rotor moment of Inertia (with brake) kg∙m2×10-4 193.6 278.9 346.1
Feedback unit standard 17-bit absolute encoder; 131072P/R option Resolver
Brake rated voltage V DC24V±10%
Brake rated power W 90
Brake holding torque Nm 100
Insulation level F Vibration 24.5m/s2 Ambient Temperature 0 to +40� (non freezing) Ambient Humidity 20 to 80% RH (non condensing)
IP level Totally enclosed, self-cooled, IP55
(except for shaft opening and connectors)
Speed-Torque Curve
A: Continuous working area B: Repeatable working area
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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Dimensions (mm)
Model L LL KB1 KB2 KL1 Flange face
S Tap×Depth key
LR LE LF LC LA LB LZ QK QL W T U
EMB-75D 530 (625) 414 366 302 184 116 4 18 220 235 200 14 42 M16×32L 90 6 12 8 5
EMB-1AD 580 (675) 464 416 352 184 116 4 18 220 235 200 14 42 M16×32L 90 6 12 8 5
EMB-1ED 615 (710) 499 451 387 184 116 4 18 220 235 200 14 55 M20×40L 90 6 12 10 6
Notes: the dimension in the () is the length of the motor with holding brakes.
Cables
Motor Connector Encoder Connector Brake Connector
Plug: MS3108B20-4S(LC=130) MS3108B22-22S (LC=180)
Plug: MS3108B20-29S
Plug: MS3106A10SL-3S
Receptacle: MS3102A20-4P(LC=130) MS3102A22-22P (LC=180)
Receptacle: MS3102A20-29P
Receptacle: MS3102A10SL-3P
Cable Clamp: MS3057-12A
Cable Clamp: MS3057-12A
Cable Clamp: MS3057-4A
Pin No. Signal Incremental/Absolute Encoder Rosolver Pin No. Signal
A U phase Pin No. Signal Colour Pin No. Signal Colour A B1
B V phase K S+ Blue K SIN+ Yellow B B2
C W phase L S - Blue / Black
L SIN- Blue C -
D FG T BAT+ Brown T COS+ Red
S BAT-
Brown / Black
S COS- Black
H PG5V Red H R1 Red/
White
G PG0V Black G R2 Yellow / White
J FG Shield J FG Shield
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Regenerative Resistor Externally mount the regenerative resistor for 7.5KW to 15KW Servo Drives.
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PRONET BRUSHLESS SERVO DRIVES
Technical Specifications
Items Specifications
Inpu
t Vol
tage
Main Circuit 200V Three-phase 200 to 230VAC 50/60Hz (1.0kW-5.0kW)
400V Three-phase 380 to 440VAC 50/60Hz (1.0kW-5.0kW)
Control Circuit 200V single-phase 200 to 230VAC 50/60Hz (1.0kW-5.0kW)
400V single-phase 380 to 440VAC 50/60Hz (1.0kW-5.0kW)
Control Method SVPWM Control
Feedback Serial encoder:13072P/R
Resolver
Ope
rati
ng
Cond
itio
ns
Ambient/Storage Temperature Ambient temperature: 0 to +55°C
Storage Temperature: -20°C to +85°C
Ambient/Storage Humidity 90% RH or less (no condensation)
Elevation 1000m or less
Vibration/Impact Resistance Vibration Resistance:4.9m/s2, Impact Resistance: 19.6m/s2
Configuration Base-mounted
Perf
orm
ance
Speed Control Range 1:5000
Speed Regulation
Load Regulation 0 to 100% load: ±0.01% max
Voltage Regulation Rated voltage ±10%: 0% (at rated speed)
Temperature Regulation 25±25°C: ±0.1% max. (at rated speed)
Torq
ue C
ontr
ol
Analogue Input
Reference Voltage ±10VDC at rated torque (variable setting range: ±1to 10VDC)
Max. input voltage: ±12V
Input Impedance About 10MΩ min.
Circuit Time Constant 10μs
Spee
d Co
ntro
l Analogue Input
Reference Voltage ±10VDC at rated torque (variable setting range: ±1to 10VDC)
Max. input voltage: ±12V
Input Impedance About 10MΩ min.
Circuit Time Constant 10μs
Set Speed Reference
Rotation Direction Selection
Switches the direction by /P-CON
Speed Selection Speed 1 to 3 selection
Function Soft Start Setting 0 to 10s (can be set individually for acceleration and deceleration)
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Posi
tion
Con
trol
Reference Pulse
Type Sign + pulse train, CCW+CW pulse train, or 90°phase difference 2-phase pulse (phase A + phase B)
Form Non-insulated line driver(+5V level),open collector
Frequency
x1 multiplier:4Mpps
x2 multiplier:2Mpps
x4 multiplier:1Mpps
Open collector:200kpps
Frequencies drop when the duties have errors
Set Position Reference
Position Setting Can set 16 position reference
I/O
Sig
nals
Encoder Output Pulses Phase A, Phase B, Phase C: line driver output
The number of dividing pulse: Any setting ratio is available
Sequence Input
Number of Channels B channels
Function
Signal allocations and positive/negative logics can be modified:Servo On(/S-ON),P control(/P-CON),alarm reset(/ALM-RST),clear error pulse(/CLR),forward run prohibited (P-OT),reverse run prohibited(N-OT),forward torque limit(/P-CL),reverse torque limit(/N-CL)
Sequence Output
Number of Channels 4 channels
Function
Servo alarm (ALM) Signal allocations and positive/negative logics can be modified: Positioning completion (/COIN), speed agree detection (/V-CMP), motor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), brake interlock (/BK), encoder C pulse (/PGC)
Built
-in F
unct
ion
Dynamic Brake(DB) Functions Operate during main power OFF, servo alarm, servo OFF or over-travel
Regenerative Processing Functions 750W to 5.0KW: built-in regenerative resistor; 7.5kW to 15kW: External regenerative resistor (optional)
Protective Functions Over-current, over-voltage, low voltage. Over-load, regeneration error, over-speed etc.
Utility Functions Alarm trace back, JOG operation, Inertia detections etc.
Display Functions CHARGE (red), POWER (green), 7-segment 5-digit LED (Built-in digital operator function)
Communications RS485 communication port, use MODBUS protocol. CAN communcation port, use CANOpen protocol.
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Dimensions (mm)
• ProNet 02/04A
• ProNet 08/10A
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• ProNet 15A
• ProNet 20/30/50A
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• ProNet 75D/1AD/1ED
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Typical Connection
• Three Phase 200VAC ProNet10A-50A
Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX
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• Three Phase 400VAC ProNet75D-1ED
Copyright © 2011 Motion Control Products Ltd. All rights reserved. All data subject to change without notice in advance